METHOD AND DEVICE FOR ESTIMATING SELF-POSITION

• Main Authors: TAKEDA YUICHI, TAKANO HIROYUKI
• Format: Patent
• Language: English; Japanese
• Published: 31.10.2019
• Subjects: ADVERTISING; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND,DEAF OR MUTE; CRYPTOGRAPHY; DIAGRAMS; DISPLAY; EDUCATION; EDUCATIONAL OR DEMONSTRATION APPLIANCES; GLOBES; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; PLANETARIA; SEALS; SURVEYING; TESTING

To estimate the self-position of a vehicle precisely when there are errors of a traveling path or the position of a target.SOLUTION: The method for estimating a self-position according to the present invention is for estimating the self-position of an own vehicle using a traveling path model and a target model. The method includes: calculating an error of the travel path model and an error of the target model; and determining which of the result of calculation output from a travel path model and the result of calculation output from the target model to use for starting the estimation of the target position according to the size of the error of the travel path model and the error of the target model.SELECTED DRAWING: Figure 10 【課題】走行軌跡や物標の位置に誤差がある場合でも自車両の自己位置を精度よく推定する。【解決手段】本発明の自己位置推定方法は、走行軌跡モデルと物標モデルを用いて自車両の自己位置を推定する方法であり、走行軌跡モデルの誤差と物標モデルの誤差を算出し、走行軌跡モデルの誤差と物標モデルの誤差の大きさに応じて、走行軌跡モデルから出力された算出結果と物標モデルから出力された算出結果のどちらを用いて、物標位置の推定を開始するか決定する。【選択図】図１０